ardupilot/libraries/AP_Generator/AP_Generator.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_Generator.h"
#if HAL_GENERATOR_ENABLED
#include "AP_Generator_IE_650_800.h"
#include "AP_Generator_IE_2400.h"
#include "AP_Generator_RichenPower.h"
const AP_Param::GroupInfo AP_Generator::var_info[] = {
// @Param: TYPE
// @DisplayName: Generator type
// @Description: Generator type
// @Values: 0:Disabled, 1:IE 650w 800w Fuel Cell, 2:IE 2.4kW Fuel Cell, 3: Richenpower
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("TYPE", 1, AP_Generator, _type, 0, AP_PARAM_FLAG_ENABLE),
AP_GROUPEND
};
// Constructor
AP_Generator::AP_Generator()
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Too many generators");
#endif
return;
}
_singleton = this;
}
void AP_Generator::init()
{
// Select backend
switch (type()) {
case Type::GEN_DISABLED:
// Not using a generator
return;
case Type::IE_650_800:
_driver_ptr = new AP_Generator_IE_650_800(*this);
break;
case Type::IE_2400:
_driver_ptr = new AP_Generator_IE_2400(*this);
break;
case Type::RICHENPOWER:
_driver_ptr = new AP_Generator_RichenPower(*this);
break;
}
if (_driver_ptr != nullptr) {
_driver_ptr->init();
}
}
void AP_Generator::update()
{
// Return immediatly if not enabled. Don't support run-time disabling of generator
if (_driver_ptr == nullptr) {
return;
}
// Calling backend update will cause backend to update the front end variables
_driver_ptr->update();
}
// Helper to get param and cast to Type
enum AP_Generator::Type AP_Generator::type() const
{
return (Type)_type.get();
}
// Pass through to backend
void AP_Generator::send_generator_status(const GCS_MAVLINK &channel)
{
if (_driver_ptr == nullptr) {
return;
}
_driver_ptr->send_generator_status(channel);
}
// Tell backend to perform arming checks
bool AP_Generator::pre_arm_check(char* failmsg, uint8_t failmsg_len) const
{
if (type() == Type::GEN_DISABLED) {
// Don't prevent arming if generator is not enabled and has never been init
if (_driver_ptr == nullptr) {
return true;
}
// Don't allow arming if we have disabled the generator since boot
strncpy(failmsg, "Generator disabled, reboot reqired", failmsg_len);
return false;
}
if (_driver_ptr == nullptr) {
strncpy(failmsg, "No backend driver", failmsg_len);
return false;
}
return _driver_ptr->pre_arm_check(failmsg, failmsg_len);
}
// Tell backend check failsafes
AP_BattMonitor::Failsafe AP_Generator::update_failsafes()
{
// Don't invoke a failsafe if driver not assigned
if (_driver_ptr == nullptr) {
return AP_BattMonitor::Failsafe::None;
}
return _driver_ptr->update_failsafes();
}
// Pass through to backend
bool AP_Generator::stop()
{
// Still allow
if (_driver_ptr == nullptr) {
return false;
}
return _driver_ptr->stop();
}
// Pass through to backend
bool AP_Generator::idle()
{
if (_driver_ptr == nullptr) {
return false;
}
return _driver_ptr->idle();
}
// Pass through to backend
bool AP_Generator::run()
{
// Don't allow operators to request generator be set to run if it has been disabled
if (_driver_ptr == nullptr) {
return false;
}
return _driver_ptr->run();
}
// Get the AP_Generator singleton
AP_Generator *AP_Generator::get_singleton()
{
return _singleton;
}
AP_Generator *AP_Generator::_singleton = nullptr;
namespace AP {
AP_Generator *generator()
{
return AP_Generator::get_singleton();
}
};
#endif